JPH01181727A - automatic bagging equipment - Google Patents

Abstract

PURPOSE:To ensure the detection of working state, by comparing the actual moving speed of an operation mechanism with a prescribed moving speed corresponding to various working states. CONSTITUTION:The position corresponding to each working state is detected by a rotary sensor S6 by attaching a rotary sensor S6 measuring the rotational amount of a rotary shaft of a chain-driving motor N and shifting a checking arm 18 from the waiting position. The normal moving speed of the checking arm 18 acting as an operation mechanism 33 engaged with a slider 9 is stored in a memory. The difference between the value detected by the rotary sensor S6 and the stored value is divided by time. The actual moving speed calculated by the above operation is compared with the normal moving speed stored in the memory and the working state of the operation mechanism 33 is judged by the comparison result.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a grain filling mechanism for filling grain into a grain storage bag that has been fed out to a predetermined grain filling position, and an opening of the grain storage bag after filling. The present invention relates to an automatic bagging device that is provided with a fastener closing mechanism that closes the zipper most, and an operation mechanism that sequentially operates the grain filling mechanism and the fastener closing mechanism (moves along a predetermined path).

[Conventional technology]

In this type of automatic bagging device, if the operating mechanism is blocked by an unexpected obstacle on the way, it will interfere with subsequent sequence control, so there is a means to know whether the operating mechanism is moving normally or not. Although there have been claims featuring such features, conventionally no such means have been provided.

[Problem to be solved by the invention]

However, as shown in Japanese Unexamined Patent Publication No. 62-163641, for convenience of sequence control, limit switches are provided in accordance with the movement path to know which position the operating mechanism is moving. However, of course, this alone is not a sufficient measure as it is not possible to determine whether the vehicle has stopped at a portion of the travel path other than where the limit switch is installed, and since it is a limit switch type, the limit switch and the limit switch must be activated. It was difficult to use, as it required adjustment to set the relative positional relationship with the limit dog.

An object of the present invention is to provide an apparatus that can reliably detect the operating state of an operating mechanism by capturing a physical quantity (for example, speed) during movement of the operating mechanism.

[Means to solve the problem]

The characteristic configuration according to the present invention compares the actual moving speed of the operating mechanism with a predetermined moving speed of the operating mechanism corresponding to the grain filling operation and the fastener closing operation, and when the two speeds do not match, the operating mechanism is moved. The point is that a means for determining that the working state is not normal is provided, and its effects are as follows.

(Function) In other words, as shown in FIG. 5, for example, up to the symbol mj is a section in which the locking arm (18) as the operating mechanism (33) engages the slider (9) and moves. , the moving speed of the locking arm (18) can be known in advance.

This predetermined movement speed is stored in memory (M
The locking arm (R) is determined from this predetermined moving speed and the instruction value from the rotation detection sensor (S6) of the motor (N) that drives the locking arm (18) shown in FIG.
By comparing the position of 18) with the actual moving speed, if the actual moving speed is smaller than the predetermined moving speed (sometimes zero), the slider (9) has not engaged properly with the fastener member. It can be determined that the locking arm (18) has stopped or is about to stop. Further, if the moving speed of the operating mechanism (33) is greater than the predetermined moving speed in the section up to code d − + 6, the operating mechanism (33)
) opens the first shutter (7) (7a)
It is thought that the particles moved without any effect.

[Effect of idea]

Therefore, by using the moving speed of the operating mechanism as a judgment medium, the moving position and working status of the operating mechanism can be reliably determined based on the detected value from the rotation sensor, and the limit switch and limit dog can be There is no need to use a limit switch type that requires reliable relative positioning.

Further, when the locking arm (18) stops moving in the section J- corresponding to the closed end of the fastener (it is sufficient if it can detect that the speed is below a predetermined speed), the locking arm (18) moves the slider (9). It can be determined that the zipper has been locked and has reached the zipper closing end, and the stop signal of this locking arm (18) can be used as a zipper closing completion signal, as shown by the figure number (SSt) in JP-A-62-163641. There is no need to adopt a method such as arranging limit switches in two stages, upper and lower.

〔Example〕

As shown in Figures 2 and 4, the bag feeding mechanism (
An automatic bag filling device consisting of A), a grain filling mechanism CB), and a bag discharging mechanism (C) will be explained. First, the bag feeding mechanism (A) will be explained. A support frame (13) in a horizontal position is erected between a vertical screw case (28) that supplies threshed grain to a hopper (8) to be described later and a partition wall (29) between the straw removal processing section, This support frame (
13), the bag supporting rotating shafts (4), (4) are attached in a cantilevered manner. These two rotating shafts (4), (4
), a grain storage bag (3) with hole forming members (2), (2) formed on both left and right ends, and the hole forming members (2),
(2) is inserted through and supported in a multilayered manner at a standby position;
A bag pusher (34) that comes into contact with the hole forming member (2) from the rear in order to force these grain storage bags (3) into the threaded groove (4A) at the tip of the rotating shaft (4) one bag at a time. )
The spring (6) is biased. Grain storage bag (3) fitted into thread groove (4A) by this spring biasing force
is delivered to a predetermined grain filling position by synchronized operation of bag delivery motors (M), (M) that drive both rotating shafts (4), (4).

Further, a holding frame (22) positioned above and along the rotation axis (4) is cantilevered to the base end (4B) of the rotation axis (4) for attaching it to the support frame (13). It is fixed. This presser frame (22) acts on the upper edge of the grain storage bag (3) that is fed out by the synchronized rotation of the rotating shaft (4), and this upper edge is screwed into the hole forming member (2). It functions to press down from above the lifting caused by abnormal fitting with the groove (4A) and restore the normal fitting state. A proximity switch-type bag feed-out detection sensor (Sl) is installed at the tip of the holding frame (22) to detect when the grain storage bag (3) has reached the predetermined position for grain filling. A slider raising tool (30) is installed to scoop up and raise the slider (9), which serves as a fastener closing mechanism, which has been tilted sideways or forward.

Next, the grain filling mechanism (B) will be explained in detail.

As shown in FIGS. 2 and 3, a grain hopper (8) is provided above the grain filling predetermined position, and this hopper (
Below the grain outlet (5) and this grain outlet (5)
) is provided with a movable discharge port (5A) that can move up and down within the opening (1) of the grain storage bag (3) and the discharge port (5). A pressure-sensitive full detection sensor (which is inserted into the opening (1) and detects the grain filling state) is attached to the side surface of the movable discharge port (5A).
S2) is installed. A sliding first shutter lid (7) is provided at the grain discharge port (5), and although this shutter (7) is not shown, it is biased by a spring in the closing direction, and the shutter (7) is biased by a spring in the closing direction. A locking mechanism is provided to maintain the open state against resistance. Also, the first
A pair of left and right second shutters (10) that swing open and close around an axis (X) are pivotally supported below the shaft lid (7) and at the lower end of the grain discharge port (5). ,
The tips of (10) are formed into fork shapes that interlock with each other in a closed state. These pair of second shaft lids (10), (10) are equipped with a bag opening sensor (10) that contacts the inner surface of the bag (3) when inserted into the opening (1).
S3) and (S3) are provided. This grain outlet (
5) There is a rotating chain (N) driven by a motor (N) near the
19) is equipped with a chain case (21) containing a movable discharge port (5A) for this rotating chain (19).
a first member (16) that acts on a bell-crank drive member (5a) that controls the vertical movement of the shaft; and an operating member (16) linked to the first shaft lid (7) to open the first shaft lid (7). a second member (17) acting on 7a);
A locking arm (18) that locks an attached slider (9) to a zipper (20) provided at the upper end opening of the grain storage bag (3) and closes the zipper (20) is integrated. Installation. The first member (1) is connected to the driving member (5a), the operating member (7a), and the slider (9).
6), the second member (17) and the locking arm (18) act according to the time chart (rotation control of the chain (19) causes the grain storage bag (3) to be fed out to the grain filling predetermined position.
) is configured to carry out filling operations. Above, the first member (16), the second member (17), the locking arm (
18), the grain filling mechanism (B) and the fastener closing mechanism (
9) and is referred to as an operating mechanism (33) that sequentially operates.

The bag release mechanism (C) will be explained. Bag release mechanism (C)
doubles as the rotating shaft (4) and (4) for supporting the bag,
When the bag (3) is full and the zipper (20) is closed, the bag supporting rotary shafts (4), (4) operate again to release the full bag (3) and release the following bag (3). Configured to dispense to a grain filling position.

As shown in Fig. 1, a bag support stand (11) is pivotally supported at a predetermined lower filling position of the grain filling mechanism (B) so as to be able to swing up and down around an axis (Y). A drive mechanism (12) for changing the attitude of the bag holder table (11) is provided on the lower surface of the table (11). This drive mechanism (12) includes a drive motor (2
6) Consists of a small diameter arm (14) directly connected to the shaft and a large diameter arm (23) attached to the drive motor shaft via a one-way clutch (15). Here, when the drive motor (26) is rotated in the forward direction, the small diameter arm (14)
) rotates, the bag holder can swing the stand (11) with a small amplitude, and when rotated in the opposite direction, the large diameter arm (23
) only the bag holder acts on the stand (11), and this bag holder acts on the stand (11).
11) is oscillated with a large amplitude. Therefore, during grain filling, the small-diameter arm (14) acts to give vibration to the bag (3) being filled to increase the filling efficiency, and when discharging after filling, the large-diameter arm (23) ), the bag holder is designed to switch the stand (11) to the ejection position. The bag holder is provided with a limit switch (24) near the swinging fulcrum of the stand (11), and a starter (25) that comes into contact with a contact unique to the limit switch (24) to operate the switch. The receiver is attached to the switch mounting bracket so that it protrudes above the surface and is pivoted downward to the surface by the filling bag (3). Therefore, if the filling amount becomes large (and approaches the predetermined amount), and its weight causes the actuator (2
In 5), the bag holder is pressed and swung to below the surface and comes into contact with the contact on the limit switch (24) side to operate the switch. These limit switch (24) and starter (25) are referred to as a bag detection sensor (S4) that senses the presence of a bag being filled.

The bag holder pivotally supports a turntable (27) that receives the discharge bag (3) from the stand (11) on a side deck (31) located on the side of the fuselage, and also tilts the turntable (27). Side deck (31
) is made swingable so that it can be placed in a receiving position for receiving the discharge bag (3), and in the received state it can be swung to the discharge position outside the machine.On the other hand, the side deck (31) A grain storage bag (3) is pivotally supported so that it can be folded and stored in anticipation of reaping travel, and is suspended and supported for filling in this stored state.
Equipped with a discharge bag detection sensor (SS) that acts on contact. Therefore, this release bag detection sensor (Ss)
is detected, the operation of the release mechanism (C) is regulated.

A potentiometer-type rotation sensor (36) is installed to measure the amount of rotation of the rotation shaft of the chain drive motor (N) that drives the rotation chain (19), and this rotation sensor (S
The locking arm (
18) can be detected.

Therefore, as shown in FIG.
are moved from the standby position (a), which is a reference for sequence control, in the order of symbols (b), (c), (d), etc., and the positions can be detected by the rotation sensor (S6). Therefore, the speed can be obtained by dividing the difference between the detected values from the rotation sensor (S6) by time, and the actual movement speed and the movement speed in the normal state recorded in the memory (MR) can be calculated. By comparison, the operating state of the operating mechanism (33) can be determined.

Sequence control will be explained based on the above configuration.

■ As shown in Figure 7, the discharge switch is a switch used to ensure that only one bag (3) that has failed to be inserted into the movable discharge port is manually discharged.When this discharge switch is operated, , left and right rotation shafts (4), (4) are intermittently rotated forward, and after 1.5 seconds, the bag feeding sensor (S,) is turned ON.
The rotating shafts (4) and (4) are temporarily stopped by. At this time, the next bag (3) has been fed out to the specified grain filling position, but since it is not certain whether the previous bag (3) has been discharged or not, both rotating shafts (4) and (4) are set to 0 again. ．．
Make a forward rotation for 4 seconds.

FIG. 8 describes the case where grain bagging is carried out automatically.

(1) First, if the locking arm (18) is in the standby position (a) and the bag detection sensor (S#) is in the OFF state, operation is started. In order to unlock the bag pushing odor (34) and switch to the working position, rotate the left and right axis (4), (
4) Reverse for 0.5 seconds. Next, the left rotation shaft (4) is rotated forward for 2 seconds, and the left and right hole forming members (2) are rotated forward.
, (2) are played out at the same time. Here, the T1 subroutine shown in FIG. 10 is executed. Bag feeding detection sensor (S+).

When (Sl) is turned ON, the rotating shafts (4) and (4) are stopped, but in order to ensure the discharge, the rotating shafts (4) are turned off again.
, (4) is rotated forward intermittently to detect the bag feeding detection sensor (S+
) turns OFF, the rotating shaft (4) is stopped. here,
When the bag (3) is released, the left and right rotation axis (4), (4)
The bag (3
) (Step I).

■ Next, insert the movable discharge port (5A). Here, if the pair of front and rear bag opening sensors (Sl), (Sl) are turned on, it is assumed that the movable discharge port (5A) has been inserted, and the first shutter (7) is opened and grain filling is performed.

At the time of grain filling, the bag holder swings the stand (11), but the mode is such that it swings for 8.5 seconds and then changes to intermittent swinging. Here, when the full detection sensor (S2) turns on, the first shutter (7) is closed and the bag holder moves the stand (11) continuously to raise and pull out the movable discharge port (5A).
).

(2) Next, the fastener (20) is closed, and when completed, the locking arm (18) is returned to the standby position (a). Here, if the release detection sensor (S,) is not ON, the side deck (31) is not in the retracted position, so wait 2.5 seconds, adjust the position of the turntable (27) so that it can be released, and The T2 subroutine (substantially the same as the T1 subroutine) shown in the figure is executed. Here, when the bag detection sensor (S4) is turned OFF, the bag holder swings the stand (11) for 5 seconds to release the bag (3) onto the turntable (27), and the rotating shaft (4), (4) is reversed for 0.2 seconds. If the bag detection sensor (S4) is ON, wait 20 seconds, check again that the product detection sensor (S4) is 0N-OFF, and proceed to step ■
Return to R3 (step ■).

■ If the bag detection sensor (S4) is ON in step I, it may be turned ON depending on the operating state of the bag feeding detection sensor (Sl).
If , return to R6 of step ■, and if OFF, the discharge bag is not the turntable (27) but the bag holder is the stand (11).
Assuming that the bag has fallen backward to the side, the bag holder is released again by swinging the stand (11), and the T2 subroutine is executed to feed out the next bag (3) (step 2).

■ In step 1, the locking arm (18) is in the standby position (a)
Possible cases where the grain filling position (g) is not at the grain filling position (g) and the case where the slider (9) misses the -th time and returns to its predetermined position (m), or other cases. ), the bag opening sensor (S3) is ON and the process returns to step nR4, and if the bag opening sensor (S3) is OFF, the bag detection sensor (S4) is in the ON-OFF state and the locking arm (18)
is returned to the standby position (a) and returns to the next step I RO and step (2) R3. When the locking arm (18) is at the predetermined position (m), if the bag detection sensor (S4) is ON, the zipper closing operation is performed again; if it is OFF, the locking arm (18) is moved to the standby position (a). ) and step ■
Return to RO. If it is stopped at any other position, if the bag detection sensor (S4) is not ON, the locking arm (18) is returned to the standby position f(a), and the process returns to step I RO. If the bag detection sensor (S4) is ON, it is assumed that grain is being filled or has just been filled.
Either return the movable discharge port (5A) to the stop position (h) after closing the first shutter, or start with an intermittent rise of the movable discharge port (5A), or
You can choose to start by stopping A) for 4 seconds during the ascent. Thereafter, the process moves to the fastener closing operation (Step V).

■ In step ■, the bag opening sensor (Sl).

(S3) is not ON, it means that the movable discharge port (5A) has been inserted incorrectly, so move the locking arm (18) to the standby position (
a), the bag (3) in the grain filling predetermined position is moved backward by reversing the rotating shafts (4), and the feeding position is corrected to the grain filling predetermined position by normal rotation again.

Also, if insertion of the movable discharge port (5A) fails for the second time, an alarm will be issued if the failed bag (3) has a second tear.
- If there is a crack, it is determined that the bag has been filled and the bag opening sensor cannot be inserted, and the zipper is closed. In this case, if the full chuck signal (signal for moving the slider to the closed end position) is not output, the empty bag (3) will be ejected, but at the time of ejection, the slider (9) will move to the slider raising tool (30).
slider (9) until it reaches the half chunk position (0).
) to perform the release (step ■).

■ If the fastener closing completion signal is not output in step ■, an alarm will be issued if the fastener closing operation is the second time, and if it is the negative time, the locking arm (18) will be returned to the slider catch miss position (o+). Then, the rotating shaft (4) is rotated in the normal direction to correct the position of the bag (3), and the zipper closing operation is performed again (step (2)).

Note that although reference numerals are written in the claims section of the utility model registration for convenience of comparison with the drawings, the present invention is not limited to the structure of the attached drawings by such entry.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic bagging device according to the present invention, and FIG. 1 is an overall perspective view, FIG. 2 is an overall side view, FIG. 3 is an overall plan view, FIG. 4 is an overall front view, and FIG. The figure is an explanatory diagram showing the movement path of the operating mechanism, FIG. 6 is a control block diagram, and FIGS. 7 to 11 are control flow diagrams. (1)...Opening, (3)...Grain storage bag, (9)...Zipper closing mechanism, (20
)...Zipper, (33)...Operating mechanism.

Claims (1)

[Claims] Grain filling A grain filling mechanism (B) that fills grain into the grain storage bag (3) fed out to a predetermined position, and a fastener (B) at the opening (1) of the grain storage bag (3) after filling.
a fastener closing mechanism (9) for closing 20), and
These grain filling mechanism (B) and fastener closing mechanism (9)
an operating mechanism that moves along a predetermined path to operate the
33), wherein the actual moving speed of the operating mechanism (33) and the predetermined moving speed of the operating mechanism (33) corresponding to the grain filling operation and the fastener closing operation are provided. In comparison, the automatic bagging device is provided with means for determining that the operating mechanism (33) is not in a normal working state when the two speeds do not match.